Wheel link is not modeled as a cylinder or sphere

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Hello everyone, So i am having this error

[ERROR] [1689583588.994400924, 0.150000000]: Wheel link front_left_wheel is NOT modeled as a cylinder or sphere!
[ERROR] [1689583588.994569868, 0.150000000]: Couldn't retrieve front_left_wheel_joint wheel radius
[ERROR] [1689583588.994729367, 0.150000000]: Failed to initialize the controller
[ERROR] [1689583588.995644288, 0.150000000]: Initializing controller 'my_rover_diff_drive_controller' failed
[ERROR] [1689583590.002104, 0.353000]: Failed to load my_rover_diff_drive_controller

when i run the launch file.... the wheel part is i added a mesh file instead of cylinder or sphere. the diff_drive_controller part i don't have any idea about why that error showing... I will attach my files below for your reference...

rover.urdf

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_rover">


    <xacro:property name="constant"     value = "0.083333333"/> #1/12
    <xacro:property name="mass"         value = "0.5"/>
    <xacro:property name="width"        value = "0.75"/> 
    <xacro:property name="height"       value = "0.15"/>
    <xacro:property name="depth"        value = "0.4"/>
    <xacro:property name="radius"        value = "0.033"/>
    <xacro:property name="length"        value = "0.018"/>

    <!-- rover base link -->
    <link name="world"/>


    <joint name="Chassis_joint" type="fixed">
        <parent link="world"/>
        <child link="Chassis"/>
        <origin xyz="0.0 0.0 0.135" rpy="0.0 0.0 0.0"/>
        <axis xyz="0.0 0.0 0.0"/>       
    </joint>

    <link name="Chassis">

        <inertial> 
            <mass value="0.5"/>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <inertia ixx="0.007601" ixy="0.0" ixz="0.0" 
                     iyy="0.03009" iyz="0.0" 
                     izz="0.024365"/>
        </inertial>
        <visual>
            <geometry>
                <box size="0.75 0.4 0.15" />
            </geometry>
            <material name="">
                <color rgba="1.0 0.3 0.1 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="0.75 0.4 0.15" />
            </geometry>
        </collision>
    </link>

    <gazebo reference = "Chassis">
        <material> Gazebo/Orange </material>
    </gazebo> 

        <!-- camera/sensor mount -->
    <joint name="mount_joint" type="fixed">
        <parent link="Chassis"/>
        <child link="mount_link"/>
        <origin xyz="0.2 0.0 0.124" rpy="0.0 0.0 0.0"/>
        <axis xyz="0.0 0.0 0.0"/> 
    </joint>

    <link name="mount_link">
        <inertial>
            <mass value="0.0"/>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <inertia ixx="0.0" ixy="0.0" ixz="0.0"
                    iyy="0.0" iyz="0.0"
                    izz="0.0" />
        </inertial>  
        <visual>                     
            <geometry>
                <cylinder radius="0.08" length="0.1"/>
            </geometry>
            <material name="">
                <color rgba="0.0 0.0 0.0 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
            <geometry>
                <cylinder ...